rmtt_node.py is tested in Ubuntu 20.04/ROS Noetic.

rmtt_node18.py is tested in Ubuntu 18.04/ROS Melodic.

Please switch in rmtt_bringup.launch.

To run rmtt_node18.py:

conda create -n py38 python=3.8
conda activate py38
pip install robomaster==0.1.1.63
pip install rospkg
pip install pyyaml
pip install scipy

add "-i https://pypi.tuna.tsinghua.edu.cn/simple" when run pip install in China.

In the workspace of rmtt_ros:

catkin_make
source devel/setup.bash
roslaunch rmtt_driver rmtt_bringup.launch

RoboMaster Tello Talent ROS Driver is developed initially for NPU-RoboCourse through the cooperation of NPU-USRI and Tianbot.

RoboMaster Tello Talent (RMTT)

RoboMaster TT (also know as DJI Tello Talent or Ryze Tello Talent) features improved hardware and an LED light. RoboMaster TT suports Wi-Fi 5G channel and a flying map, which can be used for low-cost drone swarm.

Specification

Items	Details
Model	TLW004
Weight	87 g
Max Speed	28.8 kph
Max Flight Time	13 min
Camera	2592×1936
Battery	LiPo
Capacity	1100 mAh
Voltage	3.8 V

Installation Instructions

Only support authorized devices and the environment is pre-configured in ROS2GO Noetic version.

Usage Instructions

Please read the RoboMaster TT User Manual carefully. Switch RoboMaster TT to direct connection mode, connect to RMTT-XXXXXX network.

Start rmtt_driver node

roslaunch rmtt_driver rmtt_bringup.launch

Topics

Published topics:

• ~imu_data [sensor_msgs/Imu] imu data.

• ~pose [geometry_msgs/PoseStamped] Drone pose on the mission pad.

• ~mission_pad_id [std_msgs/UInt8] Mission pad id. 1 - 12.

• ~image_raw/compressed [sensor_msgs/CompressedImage] Compressed image topic.

• ~image_raw [sensor_msgs/Image] Image topic.

• ~camera_info [sensor_msgs/CameraInfo] RMTT camera info.

• ~tof_btm [sensor_msgs/Range] Bottom tof. Distance from drone to the ground.

• ~tof_ext [sensor_msgs/Range] External tof. Distance to the obstacle in front of the drone.

• ~altitude [std_msgs/Float32] Barometer readings.

• ~battery [std_msgs/Float32] Battery percentage.

Subscribed topics:

• ~cmd_vel [geometry_msgs/Twist] Command velocity. Only be effected after taking off.

• ~takeoff [std_msgs/Empty] Takeoff.

• ~land [std_msgs/Empty] Land.

• ~flip [std_msgs/Empty] Flip.

• ~led [std_msgs/ColorRGBA] Led on top of the external module.

• ~mled [std_msgs/String] Dot matrix display. Showing charactor or string.

Services:

• ~set_downvision [std_srvs/SetBool] Change the front cam to downward cam

• ~set_hdmap Change the positioning to HD map mode. Can be used with the mission pad or HD map.

License

The ROS driver is prietary. Other packages are under BSD Clause-3 open source license. RoboMaster SDK is under Apache License, version 2.0.